Soft Actuators and Robotic Devices for Rehabilitation and Assistance

Pan, Min; Yuan, Chenggang; Liang, Xianrong; Dong, Tianyun; Liu, Tao; Zhang, Junhui; Zou, Jun; Yang, Huayong; Bowen, Chris

doi:10.1002/aisy.202100140

Cited by 75 publications

(47 citation statements)

References 82 publications

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“…Therefore, other rehabilitation device types have been developed. [165] Among them, electrically driven actuator is suitable for rehabilitation devices due to lightweight, high stretchability, and high compliance. [166] As shown Figure 10a, a rehabilitation device for hip joint was fabricated using a plasticized polyvinyl chloride gel and meshed electrode-based DEA.…”

Section: Rehabilitation Devicementioning

confidence: 99%

A Review of Recent Advances in Electrically Driven Polymer‐Based Flexible Actuators: Smart Materials, Structures, and Their Applications

Ahn

Choi

et al. 2022

Adv Materials Technologies

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Polymer-based flexible actuators have recently attracted significant attention owing to their great potentials in soft robotics, wearables, haptics, and medical devices. In particular, electrically driven polymer-based flexible actuators are considered as some of the most practical actuators because they can be driven by a simple electrical power source. Over the past decade, research on electrically driven soft actuators has greatly progressed, leading to the development of various functional materials and bioinspired structures. This article comprehensively reviews recent advances in electrically driven soft actuators and compares their actuation performance based on working principles, materials, and structures. Several strategies, including combining smart materials and composite structures, which are proposed to overcome some of the drawbacks of electrically driven soft actuators, are also discussed. Finally, potential applications of electrically driven soft actuators in soft robotics are summarized and an outlook is presented.

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Section: Rehabilitation Devicementioning

confidence: 99%

A Review of Recent Advances in Electrically Driven Polymer‐Based Flexible Actuators: Smart Materials, Structures, and Their Applications

Ahn

Choi

et al. 2022

Adv Materials Technologies

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“…In our case, the minimum pressure required to inflate the muscles is around 4 bars. I arrived at this number through our iterative experiments but also based on earlier findings on pneumatic actuation for lower limb movement support [20,51,57]. Even though some attempts have been made to design toolkits that can manipulate airbased interactive systems like this one [64,73,78,79], there is yet to exist a readily available plug-and-play system that allows for designers to achieve the complexities mentioned above.…”

Section: Inflating the W Earablementioning

confidence: 99%

Wearable Choreographer: Designing Soft-Robotics for Dance Practice

Silveira

Afsar

Alaoui

2022

Designing Interactive Systems Conference

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In this pictorial, we describe an auto-biographical design process that led to the fabrication of a soft robotic wearable for lower limb movement guidance that we designated Wearable Choreographer. We first explored the design from a first-person perspective and then shared it with four dancers. Our experiments illustrate how the wearable both constrains and inspires the dancers towards new ways of performing, challenging them to rethink their movements. Our design inquiry contributes with reflections on soft robotics that uncover the challenges and prospects designers and researchers in Human-Computer Interaction face when designing, prototyping and experimenting with such technologies for embodied interactions.

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“…There are still many kinds of robot AFO that has been developed 350 in the last decade. The development is to aids the disable by improving the gait movement [12] and reducing the walking cost [13]. In the case of Indonesia market, previous research shows that intervention of the robot technology into the orthotic and prosthetic device can help the patient to do self-training [14].…”

Section: Introductionmentioning

confidence: 99%

Robot Ankle Foot Orthosis with Auto Flexion Mode for Foot Drop Training on Post-Stroke Patient in Indonesia

Adiputra¹,

Ubaidillah²,

Asfari³

et al. 2022

KINETIK

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Robot Ankle Foot Orthosis (AFO) has been proven to assist the gait impairment, such as the foot drop. However, development challenge is still remains, such as the trade-off between complexity, functionality and cost. High functionality resulted in high cost, bulky, and complex device. But affordability and simplicity may decrease functionality. Therefore, this research proposed a robot AFO, which has the necessary function of auto dorsi-plantarflexion so it can keep the affordability and simplicity. The robot AFO consists of structure, electronics part and algorithm. The structure is custom made according to the user’s anatomy. A brushless DC (BLDC) motor, Force-Sensing Resistor (FSR) and microcontroller builds the electronic parts. The BLDC motor actuates the flexion, while the FSR detects the gait phase to determine the action. Both are integrated by the microcontroller with the P control algorithm that commands the BLDC motor to generate necessary torque so it rotates in a constant speed. A functionality test has been carried out on the robot AFO, where the robot AFO perform a dorsi-plantarflexion continuously in three conditions, such as no load, 1 Kg load, and foot load. The robot AFO successfully performed a constant velocity rotation in both directions, in all conditions. In the case of 1 Kg load, the maximum angular speed is 0.7 rad/s dorsiflexion and -1.8 rad/s plantarflexion. The torque keeps increasing and decreasing from -0.3 Nm to 4 Nm to keep the angular velocity. The result shows that the robot AFO can perform the necessary function to assist the foot drop training. Functionality test on the gait detection has also been done where it shows that the robot AFO can detect the four gait phases accurately. The robot AFO has been tested and future study should test the robot on a real post-stroke patient to see the effect of the gait control in reality.

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Soft Actuators and Robotic Devices for Rehabilitation and Assistance

Cited by 75 publications

References 82 publications

A Review of Recent Advances in Electrically Driven Polymer‐Based Flexible Actuators: Smart Materials, Structures, and Their Applications

A Review of Recent Advances in Electrically Driven Polymer‐Based Flexible Actuators: Smart Materials, Structures, and Their Applications

Wearable Choreographer: Designing Soft-Robotics for Dance Practice

Robot Ankle Foot Orthosis with Auto Flexion Mode for Foot Drop Training on Post-Stroke Patient in Indonesia

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